Gyroscopic apparatus.



E. A. SPERRY. GYROSCOPIC APPARATUS. APPLICATION FILED JULY 11. I912.

ATTORNEY Patented June 13, 1916.

5 SHEETSSHEET I- INV EIVTOI? Elmer A sjoerry,

WITH-E8858:

E. A. SPERRY. cvnoscomc APPARATUS.

APPLICATlON FILED JULY H H2- 1,]. 86,856, Patented June 13, 1916.

5 SHEETSSHEET 2- F1 3- 86 g 6 7/ as 39 wmvessm E. A. SPERRY. GYROSCOPICAPPARATUS. APPLICATION men JULY :1. 19:2.

Patented June 13, 1916.

5 SHEETSSHEET 3- INVENTOR l'lmgrA 5" erry,

il m E. A. SPERRY.

GYROSCOPlC APPARATUS. APPLICATION FILED )ULY H. 1912.

1,186,856. Patented June 13, 1916.

5 SHEETS-SHEET 4- ITI WITNESSES INVENTOR E. A. SPEHRY. GYROSCOPICAPPARATUS. APPLICATION FILED luv/11,1912.

Patented June 13 1916. 5 SHEETS-SHEET 5.

lllllll Fig; 10-

INVENTOR WITNESSES UNITED STATES PATENT OFFICE.

ELMER A. SPERBY, OF NEW YORK, N. Y., ASSIGNOR TO THE SPERBY GYROS-COPEcommnv, or nnooxmm, mew YORK, a

GYROSCOPIC arranaros.

Specification of Letters Patent.

CORPORATION OF NEW YORK.

Patented June 13, 1916.

Application filed July 11, 1912. Serial No. 708,808.

To all whom it may concern:

Be it known that I, ELMER A. Srnnnr, a citizen of the United States ofAmerica, and residing at New York, in the county of Kings and State ofNew York, have invented new and useful Im rovements in Gyroscopic Aparatus, of wh1ch the following is a speci cation.

This invention relates to gyroscopic apparatus and has for its object,among others, to construct such an apparatus which may be used for thedetermination of angles as between the fixed frame and the oscillatingsupport of the apparatus, or which may be used as a reference platformfor the control of the stability of unstable objects. My idea is torovlde a reference line or lane which is xed in space so that it may eused. to govern automatically the movements of a body, such astorpedoes, air craft or the like.

A further object of this invention consists in constructing a gyroscopicapparatus so that it may be free totake up motion from all, or any one,or a combination of primary com onents of a universal or angular motion,or the determination or study of one or more single components of acompound motion to the exclusion of the others.

This invention consists, furthermore, in constructing an apparatus whichis possessed of qualities similar to massive weights suspended fi'omvarious heights, but which avoids the use of actual masses of largemagnitude and very long suspehsions.

My invention also consists in providing means connected with suchapparatus whereby the adjustment of the same may be efl'ected withoutwaiting for the apparatus to stop its periodic motion and withoutimparting any strains or stress on the pivots of the apparatus when suchadjustment is being made. Furthermore, the rate of oscillation may bevaried independentl of the change in speed of the wheel or w eelsthemselves in order to synchronize the oscillation of the apparatus withother oscillations as may be desired. 7 1

My invention further consists in providing a roscopic apparatus in whichballistic distur ances may e overcome and still leave in apparatusoscillatory and pendulous.

in connection with my apparatus I em- 'ploy level indicators forindicating elevation, which is very important for determin-1ng-posit1ons of the gyroscopic apparatus with regard to a certain givenline.

This invention further consists in secur-' ing equality in speeds of therotating members of the gyroscopic apparatus when more than one gyro isused by interconnecting and regulating the vacuum in the casings inwhich the rotors operate and further regulating the electrical supplycausing the rotors to operate.

I have pointed out the principal among the objects and advantages of mygyro apparatus. I will now describe, for sake of illustration, one ormore simple forms in which the apparatus may be embodied.

Referring to the drawmgs: Figure 1, is a perspective view of a simpleform of apparatus with one gyro and illustrating certain features of myinvention. Fig. 2 is a similar perspective new of an a paratus embodymgfeatures of my invention including two gyros. Fi 3, is 'a diagrammaticelevation and partia section of apparatus containing two gyros and witha source of electric ower, the spinning axes of the gyros beingorizontal. Fig. 3 is a partial sectionand elevation showing the bearingsand method of supporting a gyro as in Fig. 3. Fig. 4 is a plan view andig. 5, is a side elevation, both in partial section, of apparatusincluding a pair of gyros with vertical spinning axes. Fig. 6, 1s afragmentary detail of a brake interposed between the precessional framesof the gyros of Figs. 4 and 5. Fig. 7, is a detail view of a device forholding the precessional frame or frames of the'gyros.

ig. 8, is a plan view and partial section of apparatus embodyingfeatures of my invention with two pairs of gyros, the precessional axesof the two pairs being at right an les to each other. Fig. 9, is a planview an artial section and Fig. 10, is a side elevation and partialsection, of gyroscopic apparatus containing one pair of gyros andcoupled for precession in two planes at right angles to each other.

The apparatus consists of one or more spinning masses organized forprecession upon pivots in a supporting frame or case which in turn ismounted for oscillation upon an axis at-a substantial angle and which isnormal to the precessional axis or axes when the gyros stand in theircentral or mean positions. (hen the apparatus is used for controlling orobserving the stability of a body about either or both of the horizontalaxes, I place the aforesaid axis of oscillation substantiallyhorizontal, but of course, where the apparatus is to be used to observeturning about other axes or to control the movements of a body aboutsuch axis, such as steering in azimuth, the position of the axis ofoscillation is varied accordingly.

The invention in its preferred form contemplates the use of one or morepairs of gyros but there are certain features of con struction andprinciples of operation applicable to an apparatus embodying a singlegyro which will be first referred to.

In its preferred form, the apparatus comprises a pair of gyro-elementscoupled for equal and opposite precession in a pivoted frame common toboth, the whole operating as a unit and being so arranged that the frameparticipates in all movements of its support except angular movementabout one particular axis.

A frame 15 is suitably mounted from any form of support as for instance,in the bearings 16, 16 upon a common support A so as to be capable ofoscillation. A precessional ring 17 is supported within the frame 15 forinstance, as by pivots 18, 18. The precessional ring 17 carries thespinning mass consisting of a rotor 19 mounted on shaft 20. Theprecessional ring also usually carries a motor or a connection to amotor for driving the rotor which however is not shown in Fig. 1. Theframe 15 may also carry means or tilting the precessional ring and inFig. 1 this consists of a knob 21 extending through the frame 15 andhaving a crank arm 22 connected by a link 23 to the ring 17 so thatrotation of the knob 21 will tilt the ring 17 about its pivots 18, 18.By means of this knob 21 it is possible to apply a stress to both theframe and the precessional ring and thus make it possible to control themovement of the frame 15 while at the same time leaving the ring 17 inany desirable relative position to the frame.

Under some conditions it is desirable to retard or alter the relativefreedom of movement of the precessional ring or to hold it stationaryrelative to the frame. This may be accomplished in various ways some ofwhich I have illustrated. In the diagrammatic illustration of Fig. 1this is acrol'nplished by means of a pulley 24 attached to the ring 17and a band or cord 25 which has one end fixed to the frame 15 and theother end secured to a shaft 26 having a knob or handle 27 supported inthe frame. By

turning the handle or knob 27 and tightening or loosening the band 25and thus increasing its friction on the pulley 24, it is possible tocontrol the relative freedom of movement of the precessional ring andthus for instance, vary the period of oscillation of the apparatus. Inthis way it can be given periods of vibration which can be controlledand which can be brought into synchronism with any other oscillatingdevice.

Sometimes it is desirable to arrest the oscillation of the apparatus asa whole. It is found especially where the apparatus is mounted upon amoving body that an abut ment must not be made directly upon the frameor main member 15 because of extraordinary strains that are thusproduced. This may be avoided by causing abutment to be made rather withthe preoessional ring or some portion thereof or attachment thereto andin this event it is desirable that this abutment should perform theadditional function of arresting the individual motion of the ringitself. To this end there is in this instance, provided a double facedratchet 28 which in Fig. 1 is shown as secured to the lower part of theprecessional ring 17, the teeth facing in opposite directions and beingsuch as to arrest the motion of the precessional ring 17 upon its pivots18 within the frame 15. The engaging pawl in the arrangement shown inthe figure is suitably secured as to the same body or support A uponwhich the apparatus as a whole is mounted. The stationary abutment orpawl consists of two teeth 29 and 30 which are shown as a part of aunitary device but which may be separate and adjustable for the purposeof permitting a variation in the oscillation of the apparatus. Anessential of this feature is that it should be at some distance fromboth pivots 18 and 16 as will be more clearly understood hereinafter. Itmay be understood that this apparatus as a whole is rendered pendulousby the presence of the part 29 depending from the inner member or ring17. The frame 15 and its parts may be otherwise in equilibrium upon itspivot 16; this arrangement at the same time serving to centralize theprecessional ring by rendering the same independently pendulous. Whenthe frame 15 tilts on its axis the inner frame 17 of course tilts withit and also precesses on its pivots 18. The rack 28 is thus brought intoengagement with one of the stops 29 or 30 which not only stops thetilting action about the aXis of the bearing 16 but also stops theprecessional action about the pivots 18.

In the form shown in Fig. 2 th apparatus has two gyros mounted in a ramewhich is supported in suitable bearl r gs such participate in all thesupport about that axis.

rhand gyro serves to apply as 36, 36' on a common sup ort A to ermitoscillation. The rotor 3 has a she t 38 supported in the precessionalring 39 which has pivots 40 and 41 in the frame 35. The rotor 42 has ashaft 43 supported in the ring 44 which has pivots 45, 45 in the frame35. The frame 35 may be rendered pendulous by means of one or moreweights such as 46, 46 and the precessional rings are rendered pendulousfor instance, by means of weights such as 47 and 48. In all the figuresin which I employ coupled pairs of gyros, it should be noted that therotor frames 39 and 44 are so pivoted on the com mon supporting gimbal35 as to olfer no resistance to tilting movements about any axis exceptthe axis on which the gimbal ring is supported, and since no torque canbe applied about this axis between the support and the gyros except theslight torque due to friction, it will be seen that the apparatus willnot of itself stabilize the support upon which it is placed, but willfreely motions of this support about all axes, except one, and willremain in a fixed position with respect to that axis, but will notinterfere with the motions of In this figure I have shown two differentmeans for applying stress to the precessional rings for the purpose ofcontrolling the frame. The knob or handle 49 on the pivot of the rightthe tilting stress upon the precessional ring 44. cession of the lefthand gyro may be effected by means of the cords 50, 50 passing over thepulleys 51, 51 through the hollow shaft 36' and connected to the upperand lower portions of the precessional ring 39. The two precessionalrings are coupled together so as to have equal and opposite precessionalmovement. In the form shown in Fig. 2 the connection is effected bycranks 53 and 54 on the respective pivots of the precemional rings andthe connecting rod 55. The two precessional rings may be renderedindependent in their action by disconnecting the rod 55, for instance,from the crank 53. On ,the other hand the recession of the ring 44 maybe prevented by simply attaching the left hand end of the rod 55 to thepivot 40 as shown in dotted lines. The pivot 41 is provided with a'crank 56. A rod 57 connected at one end to the frame 35 is adapted to beconnected to the outer end of the crank 56 as shown dotted, so thatprecession of the rin 39 may be prevented when desired. It wiIl be thusnoted that if the two precession rings are connected together by the rod55, the connection of rod 57 to the crank 56 will prevent precession ofboth rings. The ring 44 however, mav be permitted to have independentprecession by disconnecting the rod 55 from the crank 54 even though therin 39 is prevented from precession by the rod 57 or otherwise. Toprevent movement of the frame 35 I provide a movable abuts ment 58 whichis pivoted at 59 and adapted at its outer end to engage a projection 60from the lower portion of the precession ring 44. The member 58 has ashoulder 61 engaged or adapted to be engaged by a spring 62 so that themember 58 may be yieldingly held in the position shown in full lines inFig. 2 or in the position shown in dotted lines in which latter positionit is out of engagement with the precessional ring 44. This abutmentwhen in operation at the same time serves to hold one or bothprecessional rings from motion within the frame 35 depending uponwhether or not the rings 44 and 39 are disconnected or connected.

In the form shown in Fig. 3 the frame 65 is supported in bearings at 66,66 on a common support A" and the disposition of the masses of the frameand parts carried by it is such that the frame is pendulous. Theprecessional rings in this form of construction consist of casings 67and 68 having pi votal supports in the frame 65. The oscillation of theframe 65 and the casing 67 may be checked by engaging the rack 69 on thecasing 67 by an arm 70 carried by the main support. The rotors aremounted on hearing members 73 and 74 in the precessional casings 67 and68 respectively. The construction of the rotors and casings may beillustrated more in detail in Fig. 10 and hereinafter described. Theaxes of the rotors are normally horizontal and parallel. A. spring 75 inthe form shown is connected to the two casings 67 and 68 by knife-edgebearings located between the pivots 87 so as to apply tension to thecasings and thereby centralize themthat is tend to return them to theirnormal central position from either direction. The precessional casings67 and 68 are respectively provided with segmental racks or gears 76 and77 which couple the casings together so that the precession of thecasings is equal and opposite. In this instance it will be understoodthat the rotors within the casings spin in opposite directions and atsubstantially equal speeds, in case the gyro m'oments are equal, but incase they are not equal, then at such relative speeds to produce equaland op osite gyro moments.

ccordlng to these figures, it will be noted that the gyroscopes may beand preferably are statically balanced on their precession axes, sinceone end of the gyroscope need not be made heavier than the other tocentralize the gyros, as is done in Fig. 2. This construction afiords anim ortant advantage over the'other, since it abolishes the troublesomeeffects of acceleration forces acting directly on the gyros within theframe, which tend to cause a movement of the main frame.

A handle 78 is secured to one of the precessional casings for instance,the casing 08, so that stress may be applied to the precessional casingsfor controlling the movement of the frame as previously referred to inregard to the construction shown in Figs. 1 and 2. In this instance thecontrolling handle, it will be noted, is connected to the frame 05indirectly through the casing 68 and suitable pivots.

For the purpose of synchronous spinning of the rotors of the gyros.means are shown in Fig. 3 for electrically driving them from a commonsource of electrical supply, in this case the same being preferablythree phase alternating current. It will thus be seen that an equalnumber of cycles may be impressed on each rotor. In the arrangementshown a group of slip rings are shown at 80 connected with a singlearmature winding 81 which is also connected to a D. C. commutator 82supplied with the usual commutator brushes and shown as being connectedto two sources of electrical D. C. supply, one being a storage battery83 and the other being the usual constant potential D. C. supply mains84. A single applied winding 85 is shown as in proper circuit relation.The advantage of this arrangement is that it insures stability of gyrorotors against over-speeding and it has been found in practice that noabnormal condition of this combination can arise which will injuriouslyincrease the speed.

The rigidity of the frame 65, or corresponding frame in the otherarrangements. depends upon the state of freedom of the pivots, which inthis case are the suitable vertical pivots. That these may attain themaximum sensitiveness, I have adopted an arrangement consisting of asupporting filament 86, which may be so constructed as to perform thefunction of the torsion member, or automatic centralizing device. Inthis case they will either aid or displace entirely spring 75. \Vhen thefilament 86 is substantially torsionless the gyros themselves areunstrained as they are where no centralizing feature is shown. Rollerbearings, 87, are secured to the stem of the gyros 67 and 68, both aboveand below, and are slidably secured within the recesses in the crowns 88risingfrom the frame 65. In this frame below there are moving plungers89-89 receiving the bearings. Conical faces 67 are provided to receive,centralize and lock the gyros within the frame 65, relieving all thebearings 87 and the suspension 86 by the simple act of raising theplunger 89 within the bore within which it slides freely vertically. Anequalizing lever is supported at its center by the T head of bolt 71,which passes up each side of the frame 65, being guided both above andbelow by ears 66 and secured to some elevating mechanism as thumb screw69' by the turn-,

ing of which the whole gyro may be elevated and locked upon the conicalfaces 67, as will be readily understood from the drawing. They areusually secured in this way while either out of service or beingshipped.

In the form shown in Figs. 4 and 5 the outer frame 90 has a horizontalaxis and bearings at 91, 91 which bearings are carried for instance, bya rotatable support 92 supported in a step bearing 93 so that the entireframe can be turned about. This also shows platform 94 supported by theframe 90 and extending over the frame and the precessional casings 95and 96. These casings have horizontal axes and pivots at 97 and 98respectively. The casings are rendered pendulous by means for instance,of weights 99 and 100. 'These pendulous fittings may constitute the onlyout-of-balance feature of the apparatus as a whole. including the frame90 and platform 9-1 and attached parts. An arresting device 101 in thisform is pivotally attached to the lower part of and moves with the frame90 and has engaging members 102 and 103 adapted respectively to engagethe projections 101 and 105 on the lower ends of the precessionalcasings. This arresting device is adapted to be operated by hand and isprovided with two notches 10G adapted to receive a spring pressedplunger 107 to yieldingly hold the arresting device in position forarresting the precessional frame or in position free therefrom. Forapplying stress to the precessional ring and controlling the frame Ihave shown in this form of device a handle or knob 108 on a shaft havingpulleys or spools such as 109, 109 which are connected by cords orchains to the lugs 110. 110 on one of the precessional casings so thatby rotating the handle 108 the casings may be placed under stress. Forthe purpose of effecting the precessional velocity of the casings I haveshown a pair of brake shoes 111, 111 coupled to an operating shaft 112and I have provided the casings with friction surfaces 113, 113 adaptedto be engaged by the brake shoes 111 when the shaft 112 is turned. Inthis form of construction the rotor axes are ver tieal and theprecessional casings are coupled by means of flexible bands such as 114and 115 so that the precession shall be equal and opposite, the bandsbeing supported on cylindrical bearing surfaces 116 and 117 on thecasings.

The construction shown in Fig. 8 is similar in some respects to thatshown in Fig. 2.

The frame 120 has a horizontal axis and is supported in bearings at 121,121 and carries a plurality of pairs of gyros in this instance twopairs. An inner frame 122 is supported in the outer frame 120 inbearings at 123, 123. The axes of the two frames are at right angles toeach other. Two pairs of gyros are provided so as to stabilize theapparatus in two planes, in this case, at right angles to each other.The precessional casings 124 and 125 have the axes of their pivots at126, and 127 parallel to each other while the precessional casings 128and 129 have the axes of their pivots at 130 and 131 parallel to eachother and at right angles to the first mentioned pair. The rotors allnormally spin in a horizontal plane, their axes being normally verticaland therefore all parallel. The casings 124 and 125 are coupled by bands132 and 133, while casings 128 and 129 are coupled by bands 134 and 135for the purpose of insuring equal and simultaneous deviation from thenormal parallel condition of the spinning axes.

As one means for indicating the position of the apparatus I haveillustrated in Fig. 8 levels preferably compound, as for instance, 136and 137 and the levels 138 and 139 all mounted on the inner frame 122and arranged in pairs at right angles to each other. By using two ormore levels of differing degrees of sensitiveness in the two ositions atright angles to each other, it is possible to much more quickly andaccurately bring the apparatus to the position desired. The coarserlevels always remain in the field of vision and serve to interpret theadjacent and more sensitive level or levels. A pair of levels is alsoshown in Fig. 3 at 71 and 72 on the main frame 65.

Any suitable means for inducing artificial precession of the casings maybe employed such for instance, as previously illustrated and describedin referring to Figs. 4 and 5, in this case the controlling hand e beingindicated at 140. The compound group of gyros illustrated in Fig. 8 maybe providedwith suitable means for arresting the precession or lockingthe casings as previously described.

In the form shown in Figs. 9 and 10 a single pair of .gyros performs thefunction of the plurality of palrs referred to in Fig. 8 by beingcoupled together so as 'to'have equal and opposite precession upon twoaxes at right angles to each other, both being within the Garden frame.The frame 145 has a normally horizontal axis and is supported inbearings at 146. An inner frame 147 also normally has a horizontalaxissupported in bearings at 148 in the outer frame. The axes of the twoprecessional casings 149 and 150 are normally horizontal and paralleland in this instance are normally in alinement. The bearings at 151 and152 are carried respectively by frames 153 and 154 which frames arepivotally supported in bearings at 155 and 156 carried by the frame 147.he pivotal axes of the frames. 153 and 154 are normally horizontal andparallel and at right angles to the axes of the precessional casings. Inthis case the rotors are mounted on parallel axes normally vertical andthe rotors are spun in opposite disli eeds as he two rections at equal 5eeds or at such will produce equal gyro moments. rings 153 and 154 whichsupport the precessional casings are coupled together as for instance,by means of segmental racks or spur-gears 157 and 158 so that they arealways oscillated in opposite directions and through equal angles. Theprecessional casings 149 and 150 are also coupled together so as to haveequal and opposite precession. Attached to or movable with the casings149 and 150 are the bevel pinions 160 and 161 meshing with the bevelpinions 162 and 163. Connected to the two latter bevel gears aresegmental spur-gears 164 and 165 which are in mesh so that when thecasings 149 and 150 precess they necessarily precess through equal andopposite angles by reason of the gear train just described. It will benoted in this connection that the precessions of the casings on theirpivots 151 and 152 are not independent of the frame 147 but the stressesare transmitted thereto through bearings 166 and 167 connected eitherdirectly or indirectly therewith. These bearings 166 and 167 in theframes 153 and 147 serve to maintain the alinement and support the shortidler shaft 168 of the gears 162 and 164. Gear 163 is supported in thesame manner as gear 162. The frame 147 may be, if desired, provided witha system of indicators for instance, levels, as previously referred toand also with means for impressing stress upon the gyros in the planenecessary for controlling the movement of the frame in two directions.

In Fig. 10 I have indicated a construction of motor for creating thespinning moments, in this case, by stress of a relatively stationary A.C. stator 170 whose coils are mounted on the shaft 171 in the casing149. The rotor 172 is su ported in bearings 173 and 174 on the shaft171.

In Figs. 3, 9 and 10 the casings are shown to be vacuum casings,ordinary paclcin glands being used at points where the sha of the statoremerges from the precessional casings, see 149-150 Fi 10. Secured tothese casings are valve nozzles 175, by means of which they may beevacuated; and at 17 617 6 are shown corresponding nozzles which areconnected by flexible tube or hose 177, connecting the casings, as forinstance 6768 and 149150, whereby an equal vacuum is maintained in each,thereby permitting an equal impressed force upon each of the stators,one of which is clearly seen to the left in Fig. 10, to impart equalrotative speeds to the rotor, also shown In section in this portion ofthe figure.

What I claim is:-

1. In a gyro apparatus, the combination with a gyroscope having theusual precession frame and axis and primary axis of oscillation, of adevice for controlling said gyroscope comprising a stop adapted toengage said frame so as to prevent a relative motion thereof about boththe precession and primary axes.

2. In gyro apparatus of the character described a frame mounted upon asupport for oscillation relative thereto, a gyro mounted thereon foroscillation relatively to the frame, the axes of the frame and gyrolying normal to each other, a device as a stop or abutment attached tothe support for preventing or arresting motion of the system, theengagement between the system and the device being located upon thepivoted gyro within the frame, the device arranged to simultaneouslyarrest the oscillating motion of the gyro and also that of the frameupon their respective axes.

3. In gyro apparatus f the characte. described a frame mounted upon asupport for oscillation relative thereto, a plurality of gyros mountedthereon for oscillation relatively to the frame, the frames beingconnected for predetermined relative motion, a device as a stop orabutment attached to the support for preventing or arresting motion ofthe system, the engagement between the system and the device being at apoint upon one of the pivoted gyros within the frame and organized tosimultaneously arrest the mot on of both the gyros and the frame upontheir respective axes.

4. In gyro apparatus, a support, a frame which together with itscontained parts is pendulous mounted upon said support for oscillationrelative thereto, a pair of gyros pivotally mounted upon said frame uponsubstantially parallel axes and means connecting said gyro whereby onlyopposite precession is ermitted.

5. Means or stabilizing a pendulously mounted body about an axiscomprising a pair of gyroscopes mounted on said body for precessionabout substantially parallel axes which are substantially perpendicularto said first mentioned axis, the spinning axes of the 'yros beingnormally at a substantial angle to each of said other axes, meansconnecting said gyros whereby only opposite precession is permitted andyielding means for applying torques about the precession axes wheneverthe spinning axes depart from their normal position.

6. In gyro apparatus of the character described a frame mounted upon asupport for oscillation relative thereto, a pair of gyros andprecessional members therefor mounted to oscillate upon parallel axesupon the frame, the said axes being at a substantial angle to thespinning axis of each gyro and resilient means for centralizing the twogyros upon their oscillating axes.

7. In gyro apparatus of the character described a pendulous framepivoted to a support, a plurality of yros each having a precession ringpivoted within the frame at a substantial angle to the pivotal axis ofthe frame and also to the spinning axis of the gyros, the pivots of thetwo precession rings upon the frame being parallel to each other andmeans for moving said outer frame upon its pivots by applying angularstresses to each of the said precession rings of the gyros.

8. In gyro apparatus of the character described a frame pivoted to asupport, a

pair of gyros each having a precession ring pivoted within the frame ata substantial angle to the pivotal axis of the frame and also to thespinning axis of the gyros, the pivots of the two precession rings uponthe frame being parallel to each other and means for coupling the saidprecession rings for predetermined relative angular velocity upon theirpivots within the frame- 9. Gyro apparatus, comprising a frame pivotedupon a support upon a horizontal axis, a pair of gyro elementsindependently pivoted upon and coupled for equal and opposite precessionupon said frame, the whole being pendulous and operating as a unit andbeing so arranged that the frame freely participates in all movements ofits support except angular movement about its pivotal axis of support.

10. In gyro apparatus of the character described a pendulous framepivoted to a support, a gyro with a procession ring pivoted within theframe at a substantial angle to the pivotal axis of the frame and alsoto the spinning axis of the gyro, means for moving the said outer frameon its pivots by applying angular forces to the said precession ring ofthe gyro, and an indicator of position suitably mounted upon theapparatus for indicating motions thereof.

11. In gyro apparatus of the character described a pendulous framepivoted to a support, a plurality of gyros each having a precession ringpivoted within the frame at a substantial angle to the pivotal axis ofthe frame and also to the spinning axis of the gyros, the pivots of thetwo precession rings upon the frame being parallel to each other, meansfor moving the said outer frame on its pivots by applying angular forcesto the said precession rings of the gyros, and an rotation of the saiindicator of position suitably mounted upon the apparatus for thereof.

12. In gyro apparatus, the combination with a pair of electricallydriven rotors arranged to spin in vacuo and to balance each other intheir gyroscopic reactions, of means for maintaining said rotors atexactly the same speed comprising a. duct connecting the evacuatedcasings of the rotors to equalize the pressure in the casings.

13. In gyro apparatus, the combination with a pair of electricallydriven rotors arranged to spin in 'vacuo and to balance each other intheir gyroscopic reactions, of means for maintaining said rotors atexactly the same speed comprising a duct connecting the evacuatedcasings of the rotors to, equalize the pressure in the casings, and acom mon alternating current generator adapted to supply each rotor,whereby said rotors are kept in step.

14. In gyro apparatus of the character described a plurality of gyros,the wheels or rotors of which are each provided with means for drivingsame, consisting of an alternating current stator, a common alternatingcurrent generator connected with each stator, the relation of themagnetic properties of the various stators taken together with thefrequencies of the generator being such as to rotors.

15. A gyroscopic apparatus for stabilizing a line comprising a pivotedsupport, a pair of rotors pivoted for oscillation u on said supportabout parallel a'xes at right angles to the normal position of theirspinning axes, each of said rotors being statically balanced about saidoscillatory axis, and means for centralizing said rotors upon said axes,the apparatus as a whole being pendulous.

16. A gyroscopic apparatus for stabilizing a line, comprising a support,a pair of rotors pivoted for osclllation upon sa1d support aboutparallel axes perpendicular to the normal position of their spinningaxes, each of said rotors beingstatically balanced about saidoscillatory axis, and a centralizing spring connected to said rotors soas to exert a torque about said oscillatory axis upon their beingdisplaced from a parallel position, the apparatus as a whole beingpendulous.

17. A gyroscopic apparatus for stabilizing a line, com rising a support,a pair of rotors pivoted or oscillation upon said support about parallelaxes perpendicular to the normal position of their spinning axes, eachof said rotors being statically balanced about said oscillatory axis,coupling means between said rotors whereby equal and oppositeoscillation only is permitted, and

indicating motions.

roduce equal speeds of.

eachof said rotors being statically balanced about said oscillatoryaxis, coupling means between said rotors whereby equal and oppositeoscillation only is permitted, a centralizing spring connected to saidrotors so as to exert a torque about said oscillatory axis upon theirbelng displaced from a parallel, position, the apparatus as a wholebeing pendulous' 19. In gyro apparatus of the character described aframe pivoted to a su port, a gyro with a precession ring pivoted withinthe frame at a substantial angle to the pivotal axis of the frame andalso to the spinning axis of the gyro, the said gyro being staticallybalanced upon its. ivots, and restraining means connected t ereto forreturning same upon its pivots from either direction to a predetermlnedposition with regard to the frame.

20. In gyro apparatus of the character described a frame pivoted to asupport, a gyro with a precesslon ring pivoted within the frame at asubstantial angle to the pivotal axis of the frame and also to thespinnin axis of the gyro, the said gyro being statically balanced uponits pivots, and resilient restraining means connected thereto forreturning same upon its pivots from either direction to a predeterminedposition with regard to the frame.

21. In gyro apparatus of the character described a frame pivoted to asupport, a pair of gyros each with a precess1on ring pivoted within theframe at a substantial angle to the pivotal axis of the frame and alsoto the spinning axis of the gyro, restraining means connected with eachpivoted gyro within the frame for returning same upon its ivots fromeither direction to a predetermined osition with regard to the frame andmechanical connections between the gyros for their simultaneous equaland opposite movement upon their respective pivots.

22. In gyro apparatus of the character a position w ere the spinningaxes are parallel, or approximately parallel, to each other.

2?. In gyro apparatus of the character described a frame pivoted to asupport, a plurality of pivoted gyros Within the frame each providedwith a precession ring,the pivots standing at a substantialangleto thepivotal axis of the frame and also to the spinning axis of the gyros,and resilient restraining means connecting the two or more precessionrings, for returning same upon their pivots from either direction to aposition where the spinning axes are parallel, or approximatelyparallel, to each other.

2%. ln gyro apparatus of the character described a frame pivoted to asupport, a plurality of gyros each having a precession ring pivotedwithin the frame at a substantial angle to the pivotal axis of the frameand also to the spinning axis of the gyros, the pivots of the precessionrings upon the frame being parallel to each other, each of the gyros,including their precession rings, being in static equilibrium upon theirpivots, and restraining means connected with one of the gyros within theframe for returning same upon its pivots from either direction to apredetermined position with regard to the frame, and mechanicalconnections between the gyros for their simultaneous movement upon theirrespective pivots.

25. In gyro apparatus of the character described a frame mounted upon asupport for oscillation relative thereto, a pair of gyros mounted tooscillate upon parallel axes upon the. frame, the said axes being at asubstantial angle to the spinning axis of each gyro and a common meansfor centralizing both gyros upon their axes within the frame.

26. In gyro apparatus of the character described a frame mounted upon asupport for oscillation relative thereto, a pair of gyros mounted uponthe frame to precess upon axes which are substantially parallel to eachother, means for rendering the system pendulous upon its outer oroscillating axis and means for centralizing the gyros upon theirprecessing axes.

27. In gyro apparatus of the character described a frame mounted upon asupport for oscillation relative thereto, a pair of gyros mounted uponthe frame to precess upon axes which are substantially parallel to eachother, the gyros coupled for opposite precession upon such axes, meansfor rendering the system pendulous upon its outer or oscillating axisand means for centralizing the gyros upon their precessing axes.

28. In gyro apparatus of the character described a frame mounted upon asupport for oscillation relative thereto, a pair of gyros mounted uponthe frame to precess upon axes which are substantially parallel to eachother, the gyros spinning in opposite directions and coupled togetherfor opposite precession upon such axes, means for rendering the systempendulous upon its outer or oscillating axis and means for centralizingthe gyros upon their precessing axes.

29. In a gyro apparatus of the character described a frame mounted upona support for oscillation relative thereto, a pair of gyros mounted uponthe frame to precess upon axes which are substantially parallel to eachother, means for rendering the system pendulous upon its outer oroscillating axis and means for centralizing the gyros upon theirprecessing axes in a position in which their spinning axes arepractically parallel to each other.

30. In gyro apparatus of the character described a frame mounted upon asupport for oscillation relative thereto, upon a normally horizontalaxis, a pair of gyros mounted upon the frame to precess upon normallyvertical axes which are substantially parallel to each other, the systembeing pendulous upon its horizontal axis and means for centralizing thegyros upon their precession axes.

31. In gyro apparatus of the character described a frame mounted upon asupport for oscillation relative thereto, a pair of gyros mounted uponthe frame to precess oppositely upon axes which are substantiallyparallel to each other, the system being pendulous upon its outer oroscillating axis by the location of the said axis above the center ofgravity of the combined apparatus.

32. In gyro apparatus of the character described a frame mounted upon asupport for oscillation relative thereto, a pair of gyros mounted uponthe frame to recess oppositely upon axes which are su stantiallyparallel to each other, means for rendering the system pendulous uponits outer or oscillating axis and resilient means for centralizing thegyros upon their spinning axes.

In gyro apparatus, a supporting frame, a gyro adapted to spin upon ahorizontal axis and to precess about a vertical axis, pivoted Withinsaid frame, guiding bearings for such vertical axis and an independentflexible suspension for the gyro within the frame.

34. In gyro apparatus, a supporting frame, a gyro adapted to spin upon ahorizontal axis and to recess about a vertical axis, pivoted within saidframe, guiding bearings for such vertical axis, an independent flexiblesuspension for the gyro within the frame, and a combined device forrelieving said suspension of the weight thepeof and of locking it to theframe at Wil 35. In gyro apparatus, a supporting frame, a gyro adaptedto spin upon a horizontal axis and to precess about a vertical axis,pivoted within said frame, guiding bearings for such vertical axis and arsion suspending filament for the gyro within the frame whereby saidgyro is both supported and centralized.

36. In gyro apparatus of the character described a frame mounted upon asupport for oscillation relative thereto, upon a normally horizontalaxis, a pair of gyros mounted in equilibrium upon the frame to precessupon normally vertical axes which are substantially parallel to eachother, the system being pendulous upon its horizontal axis and resilientmeans for centralizing the gyros upon their precession axes.

37. In gyro apparatus, a frame pivoted on a support, a pair of gyroseach having a bearing member pivoted within the frame at a substantialangle to the pivotal axis of the frame and also to the spinning axis ofthe gyros, the pivots of the two members being parallel to each otherand the gyros being statically balanced about said pivots, and means forcouplin the said bearing members for predetermined relative angularvelocity upon their pivots within the frame.

38. In gyroscopic apparatus, a support, a frame which together with itscontained parts is pendulously mounted upon said support for oscillationrelative thereto, a gyroscope mounted upon said frame upon aprecessional axis at a substantial angle to its spinning axis, and meanswhereby movement of said frame may be effected by applying a torqueabout the precessional axis of said gyroscope.

ELMER A. SPERRY. Witnesses:

ALBERT W. STRINGI-IAM; FRED C. NARVESEN.

zontal axis and to recess about a vertical axis, pivoted within saidframe, guiding bearings for such vertical axis and a torsion suspendingfilament for the gyro within the frame whereby said gyro is bothsupported and centralized.

36. In gyro apparatus of the character described a frame mounted upon asupport a bearing member pivoted within the frame Corrections in LettersPatent No. 1,186,856.

at a substantial angle to the pivotal axis of the frame and also to thespinning axis of case in the Patent [scan] the gyros, the pivots of thetwo members being parallel to each other and the gyros being staticallybalanced about said pivots, and means for couplin the said bearingmembers for predetermined relative angular velocity upon their pivotswithin the frame.

38. In gyroscopic apparatus, a support, a frame which together with itscontained parts is pendulously mounted upon said support for oscillationrelative thereto, a gyroscope mounted upon said frame upon a pre-'cessional axis at a substantial angle to its spinning axis, and meanswhereby movement of said frame may be efiected by applying a torqueabout the precessional axis of said gyroscope.

ELMER A. SPERRY.

Witnesses:

ALBERT W. STBINGHAM," FRED C. NARVESEN.

It is herebycertified that in Letters Patent No. 1,186,856, granted June13, 1916, uponthe application of Elmer A. Sperry, of New York, N. Y foran improvement 1 in Gyroscopic Apparatus, errors appear in the printedspecification requiring correction as follows: Page 6,- line 50, claim4:, gyro should read gyros; page 8, line 71, claim 29, cancel thearticle a, page 9, line 31, claim for the word pendulously readpendulous; and that the said Letters Patent should be read with thesecorrections therein that the same may conform to the record of theSigned and sealed'this fith day 0f March, A; 1)., 1917.

F; w. H. CLAY,

Acting Commissioner of Patents.

It is hereby certified that in Letters Patent No. 1,186,856, grantedJune 13, 1916,

upon the application of Elmer A. Sperry, of New York, N. Y., for animprovement in Gyroscopic Apparatus, errors appear in the printedspecification requiring correction as follows: Page 6,"line 50, claim 4,"gyro should read gyros; page 8,

line 71, claim 29, cancel the article a; page 9, line 31, claim 38, forthe word pendulously read pemiulous; and that the said Letters Patentshould be read with these corrections therein that the same may conformto the record of the case in the Patent )ffice.

Signed'and sealed this 6th day of March, A. D., 1917.

[snap] F. W. H. CLAY,

Acting Commissioner of Patents. Cl. 7478.

